TW200532191A - Method and system for inspecting and handling cargo container - Google Patents
Method and system for inspecting and handling cargo container Download PDFInfo
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- TW200532191A TW200532191A TW094107483A TW94107483A TW200532191A TW 200532191 A TW200532191 A TW 200532191A TW 094107483 A TW094107483 A TW 094107483A TW 94107483 A TW94107483 A TW 94107483A TW 200532191 A TW200532191 A TW 200532191A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000007689 inspection Methods 0.000 claims abstract description 133
- 230000005855 radiation Effects 0.000 claims abstract description 72
- 125000004122 cyclic group Chemical group 0.000 claims description 16
- 239000000969 carrier Substances 0.000 abstract 1
- 230000032258 transport Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000000149 penetrating effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241001023788 Cyttus traversi Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 206010000496 acne Diseases 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004992 fission Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 229910052741 iridium Inorganic materials 0.000 description 1
- GKOZUEZYRPOHIO-UHFFFAOYSA-N iridium atom Chemical compound [Ir] GKOZUEZYRPOHIO-UHFFFAOYSA-N 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000008267 milk Substances 0.000 description 1
- 210000004080 milk Anatomy 0.000 description 1
- 235000013336 milk Nutrition 0.000 description 1
- 229910052704 radon Inorganic materials 0.000 description 1
- SYUHGPGVQRZVTB-UHFFFAOYSA-N radon atom Chemical compound [Rn] SYUHGPGVQRZVTB-UHFFFAOYSA-N 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
- B65G63/004—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles for containers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
- G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
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- General Life Sciences & Earth Sciences (AREA)
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- Geophysics (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
- Ship Loading And Unloading (AREA)
- Sorting Of Articles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
200532191 九、發明說明： 【發明所屬之技術領域】 本發明是關於一種貨櫃貨物檢查方法及貨櫃貨物檢查 系統，特別是關於某種貨櫃貨物檢查方法及貨櫃貨物檢查 系統’其可在不開封從船舶卸下之貨物或裝載至船舶之貨 物的情況下’在裝卸路徑中從貨櫃的外部使用放射線來檢 查貨物。 【先前技術】 • 近年來，在收納於貨櫃内的輸入貨物或輸出貨物中， 越來越多的槍械、毒品等危害社會的物品和與貨品主人之 申報不相符的不正當物品隱藏於其中。為了發現這些物 品，對在處理輸出入貨物的港灣而言，貨櫃貨物的檢查越 顯重要。 在作為檢查貨櫃貨物的裝置中，其中一種為，在遮蔽 至内配置X光裝置，藉由使安裝貨櫃貨物之車輛通過χ光檢 查裝置’對貨櫃貨物進行X光檢查。 φ 【發明内容】 在上述之檢查裳置中，通常，輸入貨物所採取的檢查 制度為，使貨櫃搬運車輛（有人搬運車）從貨櫃碼頭到貨櫃 馬頭外的檢查大樓載送貨櫃貨物並移動，在大樓内對貨櫃 貨物進行檢查之後，再返回貨櫃碼頭。因此，貨櫃貨物的 檢查效率差，要檢查所有輸出入的貨櫃貨物變得困難起來。 在本發明中，目的在提供一種貨櫃貨物檢查方法及檢 一系、、先，其可實現貨櫃貨物檢查的效率化及裝卸作業的省200532191 IX. Description of the invention: [Technical field to which the invention belongs] The present invention relates to a container cargo inspection method and a container cargo inspection system, and more particularly to a certain container cargo inspection method and a container cargo inspection system. In the case of unloaded cargo or cargo loaded on a ship ', the cargo is inspected using radiation from the outside of the container in the loading path. [Previous technology] • In recent years, more and more goods, such as firearms and drugs, which are harmful to society, and improper items that do not comply with the declaration of the owner of the goods, are hidden in the imported or exported goods stored in the container. In order to find these items, the inspection of container cargo becomes more important for ports that handle import and export cargo. Among the apparatuses for inspecting container cargoes, one of them is to arrange an X-ray device inside the shielded area, and perform an X-ray inspection of the container cargoes by passing a vehicle on which the cargoes are installed through the X-ray inspection device '. φ [Summary of the invention] In the above-mentioned inspection racks, the inspection system adopted for inputting goods is usually to move the container handling vehicle (personnel handling vehicle) from the container terminal to the inspection building outside the container's horse head and move the container goods. After inspecting the container cargo in the building, return to the container terminal. Therefore, the inspection efficiency of the container cargo is poor, and it becomes difficult to inspect all the input and output of the container cargo. In the present invention, the object is to provide a container cargo inspection method and inspection system. First, it can realize the efficiency of container cargo inspection and save the loading and unloading operations.
2189-6921-PF 5 200532191 力化且可效率良好地檢查輸出入之貨櫃貨物。 為達成上述目的，本發明之貨櫃貨物檢查方法的特徵 綠 < 在櫃用船舶#岸的碼頭區域中，使無人搬運車持 績循環移動，在和上述船舶之間進行貨擴貨物的傳送，並 在循環移動中對上述無人搬運車上的貨摄貨物進行放射線 檢查在此情況下，上述無人搬運車在貨櫃貨物存放場和 與船舶之間的貨櫃貨物傳送區域之間循環，可對循環移動 的無人搬運車上的貨櫃貨物進行放射線檢查。另外，可在 上述循環移動的無人搬運車和底盤車之間傳送貨樞貨物。 本毛明亦可為一種貨櫃貨物檢查方法，其特徵在於·· 在碼頭區4，使無人搬運車循環㈣，和船狀間進行載 送並在循ί衣路線中進行放射線檢查，1可在《盾環移動之 “、、人搬運車和於碼頭區域、貨櫃貨物存放場之間移動的底 盤車或無人搬運車之間進行貨櫃貨物的傳送。在此構造 中，设有循環迴路，其聯絡碼頭區域的循環迴路、碼頭區 域和貨櫃貨物存放場，無人搬運車可在兩種迴路巾進行切 換來進行傳送。 再者本發明亦可為一種貨櫃貨物檢查方法，其對從 ^舶卸下 < 貨櫃貨物和褒載至貨擴π❺貨物進行放射 線檢查，其特徵在於：使無人搬運車在碼頭區域内循環移 動，在上述無人搬運車的循環移動線上，進行上述無人搬 運車和上述船舶之間的裝卸作業、對載置於無人搬運車上 ，貨櫃貨物的檢查、上述無人搬運車和有人搬運車之間的 貨概貨物移動載送作業。上述貨櫃貨物的移動載送作業和2189-6921-PF 5 200532191 Forced and efficient inspection of incoming and outgoing container cargo. In order to achieve the above-mentioned object, the characteristic of the container cargo inspection method of the present invention is green. In the terminal area of the container ship #shore, the unmanned truck is moved cyclically to perform the cargo expansion transfer with the ship. And perform a radiographic inspection of the cargo on the unmanned truck during the cyclic movement. In this case, the unmanned truck circulates between the container cargo storage yard and the container cargo transfer area with the ship. The container cargo on the unmanned truck is radiographically inspected. In addition, the cargo of the hub can be transferred between the cyclically moving unmanned truck and the chassis vehicle. This Maoming can also be a container cargo inspection method, which is characterized in that: in the dock area 4, the unmanned truck is circulated, and it is carried with the ship shape, and the radiological inspection is carried out in the clothing line. "Shield Ring Movement", the transfer of container cargo between a person truck and a chassis or unmanned truck that moves between the dock area and the container cargo storage yard. In this structure, a circulation circuit is provided, which communicates The loop circuit in the dock area, the dock area, and the container cargo storage yard can be switched by two types of circuit towels for unmanned trucks. Furthermore, the present invention can also be a method for inspecting container cargo. The container cargo and the cargo carried to the cargo extension are inspected by radiation, which is characterized in that the unmanned vehicle is cyclically moved in the area of the terminal, and the unmanned vehicle and the ship are circulated on the circulating moving line of the unmanned vehicle. Loading and unloading operations, loading on unmanned trucks, inspection of container cargo, and general cargo transfer between the aforementioned unmanned trucks and manned trucks Dynamic loading operations. The above-mentioned mobile loading operations of container goods and
2189-6921-PF 200532191 知櫃：k物的波卸作業在上述循環移動線上的至少其中一個 地點進4亍，將上述對貨才置貨物的檢查的地點設定為一個或 没疋為比上述貨櫃貨物的移動載送作業、貨櫃貨物的裝卸 作業的進行地點少。 本發明之貨櫃貨物檢查系統的特徵在於··設有在貨櫃 用釓舶罪岸的碼頭區域所設置的貨櫃起重機和經過此貨櫃 起重機之作業區域的無人搬運車的循環路線，可持續在上 述貨櫃用船舶和上述無人搬運車之間傳送貨櫃貨物，且沿 著上述循環路線設置可對上述無人搬運車之貨櫃貨物進行 放射線照射放射線檢查裝置。在此情況下，上述循環路線 為在碼頭區域内往返循環的路線。另外，在上述循環路線 上a又有貨櫃貨物移動載送裝置，可在底盤車和上述無人搬 運車之間傳送貨櫃貨物。再者，在上述循環路線上設有貨 櫃貨物移動載送裝置，具有藉由此移動載送裝置傳送貨櫃 貨物的第二無人搬運車，該第二無人搬運車可在貨櫃底盤 車和碼頭區域之間循環運送。 另外，本發明之貨櫃貨物檢查系統的特徵在於··設有 設置於貨櫃用船舶靠岸之碼頭區域的貨櫃起重機和經過此 貨櫃起重機之作業區域且到達貨櫃貨物存放場之無人搬運 車的循環路線，可在上述貨櫃用船舶和上述無人搬運車之 間持續傳送貨櫃貨物，可將貨物搬到貨櫃貨物存放場，並 /口著上述循環路線設置可對上述無人搬運車上之貨櫃貨物 進行放射線照射的放射線檢查裝置。在此構造中，上述循 環路線由聯絡迴路組成，其可連絡和碼頭區域内迴路共用 2189-6921-PF 7 200532191 該迴路之一部分而形成的碼頭區域和貨櫃貨物存放場，在 上述碼頭區域内迴路或共用迴路上設有放射線檢查裝置。 另外，上述循環路線由聯絡迴路組成，其可連絡和碼頭區 域内迴路共用該迴路之一部分而形成的碼頭區域和貨櫃貨 物存放場，上述碼頭區域内迴路設定為折返型往返循環路 線。另外，上述循環路線由聯絡循環迴路所構成，該聯絡 循環迴路聯絡碼頭區域内的無人搬運車用循環迴路、上述 碼頭區域和貨櫃貨物存放場，可在兩迴路之間裝備傳送貨 櫃貨物的貨櫃移動載送起重機。 再者’本發明為一種貨櫃貨物檢查系統，其對從船舶 卸下之貨櫃内的貨物和裝載至船舶之貨櫃内的貨物進行放 射線檢查，其特徵為具備在碼頭區域内循環移動的無人搬 運車’在上述無人搬運車的循環移動線上，設有對上述無 人搬運車裝卸貨櫃貨物的裝卸裝置、對載置於上述無人搬 運車之貨櫃内的貨物進行檢查的貨櫃貨物檢查裝置、在上 述無人搬運車和有人搬運車之間移動載送貨櫃貨物的貨櫃 貨物移動載送裝置。在此構造中，上述裝卸裝置和上述貨 樞：k物移動載送裝置分別在上述無人搬運車的循環移動線 上設置至少一個，上述貨櫃貨物檢查裝置在上述無人搬運 車的循環移動線上設置一個，或者，以比上述裝卸裝置、 上述貨櫃貨物移動裝置少的數目來設置。 根據具有上述構造之本發明，使無人搬運車僅在碼頭 區域内或在碼頭區域和貨櫃貨物存放場之間循環移動，在 上述無人搬運車的循環移動線上，進行上述無人搬運車和2189-6921-PF 200532191 Knowing the container: The wave unloading operation of item k enters at least one of the locations on the above-mentioned cyclic moving line, and the location of the above-mentioned inspection of the goods is set to one or not. There are few locations where cargo moving operations and container cargo loading and unloading operations are performed. The feature of the container cargo inspection system of the present invention is that the circulation route of the container crane provided in the dock area of the container bank of the container ship and the unmanned truck passing through the operation area of the container crane can be maintained in the container. The container cargo is transported between the ship and the unmanned transport vehicle, and a radiation inspection device is provided along the circulation route, which can irradiate the container cargo of the unmanned transport vehicle with radiation. In this case, the above-mentioned circulation route is a route to and from the terminal area. In addition, on the above circulation route, there is a container cargo moving and carrying device, which can transfer the container cargo between the chassis vehicle and the unmanned vehicle. Furthermore, a container cargo moving and carrying device is provided on the above-mentioned circulation route, and a second unmanned carrier truck is used to transport the container goods by the moving carrier device. The second unmanned carrier can be located in the container chassis truck and the dock area. Transport between cycles. In addition, the container cargo inspection system of the present invention is characterized by a circulation route provided with a container crane installed in a dock area where a container ship is docked, and an unmanned truck that passes through the operation area of the container crane and reaches the container cargo storage yard. , Can continuously transfer container cargo between the container ship and the unmanned truck, can move the cargo to the container cargo storage yard, and / or set up the above circulation route can radiate the container cargo on the unmanned truck Radiation inspection device. In this structure, the above-mentioned circulation route is composed of a liaison circuit, which can be connected to the circuit inside the terminal area to share 2189-6921-PF 7 200532191. The terminal area and container cargo storage yard formed by a part of this circuit, the circuit inside the terminal area Or a radiation inspection device is provided on the common circuit. In addition, the above-mentioned circulation route is composed of a liaison circuit, which can be connected to the terminal area and the container cargo storage yard formed by the circuit in the terminal area sharing a part of the circuit. The circuit in the terminal area is set as a return-type round-trip circuit. In addition, the above-mentioned circulation route is composed of a connection circulation circuit, which connects the circulation circuit for unmanned vehicles in the dock area, the above dock area and the container cargo storage yard, and can be equipped with a container movement for transferring container cargo between the two circuits. Carrying crane. Furthermore, the present invention is a container cargo inspection system, which performs radiographic inspection on the cargo in the container unloaded from the ship and the cargo loaded in the container of the ship, and is characterized in that it is provided with an unmanned transport vehicle that circulates in the dock area. 'On the circular moving line of the unmanned transport vehicle, there is provided a loading and unloading device for loading and unloading the container cargo of the unmanned transport vehicle, a container cargo inspection device for inspecting the goods loaded in the container of the unmanned transport vehicle, and the unmanned transportation. A container cargo moving and carrying device for moving a container cargo between a truck and a manned van. In this configuration, the loading and unloading device and the cargo hub: at least one k-moving carrying device are provided on the circulating moving line of the unmanned vehicle, and the container cargo inspection device is provided on the circulating moving line of the unmanned vehicle. Alternatively, they may be provided in a smaller number than the loading / unloading device and the container cargo moving device. According to the present invention having the above-mentioned structure, the unmanned transport vehicle is cyclically moved only in the dock area or between the wharf area and the container cargo storage yard, and the aforementioned unmanned transport vehicle and the
2189-6921-PF 8 200532191 另外，藉由使在碼頭區域内循環移動的搬運車輛設定為無 人搬運車’可在對貨櫃貨物進行檢查的時候，省下司機： 車下車的步驟，並省下各行程所產生之等待㈣所導致的 人事費用。 船拍之間的裝卸作業，或者，在相同的猶環移動線上，對 載置於上述無人搬運車上之物進行放射線檢查作 業，在上述無人搬運車和有人搬運車或無人搬運車和無人 搬運車之間，沿著循環移動線來對貨櫃貨物進行出入的移 動載送作業，戶斤以，可對貨㈣物進行效率良好的檢查。 另外，上述貨櫃貨物的移動載送作業和貨櫃貨物的裝 卸作業在上述循環移動線上中至少其中一處進行，將上述 貨櫃貨物檢查的地點設定為一個或設定為比進行上述貨櫃 貨物之移動載送作業、貨櫃貨物之裝卸作業的地點少，藉 此，可逐漸減少設置昂貴檢查裝置的地點，進行效率良^ 的貨櫃貨物檢查。 針對上述循環移動線聯合設置底盤車的傳送路線以進 行移動載送，或者，另外形成針對貨櫃貨物存放場的循環 路線，來進行無人搬運車的存放場和碼頭區域之間的貨櫃 傳送，藉此，可得到全自動化系統。當然，在碼頭區域的 循環移動線上，可設置針對貨櫃貨物存放場的循環移動線 或共用路線，以形成連續的移動線，在此，藉由使無人搬 運車移動，設定出完全自動化路線，且完成可對貨櫃貨物 進行放射線檢查的系統，可大大提高效率。2189-6921-PF 8 200532191 In addition, by setting the transport vehicles that circulate in the dock area to be unmanned vehicles, the driver can be saved when inspecting container cargo: the steps of getting off the vehicle and saving each Personnel costs incurred due to waiting incurred during the trip. Loading and unloading operations between ship shots, or radiographic inspections of objects placed on the aforementioned unmanned vehicles on the same U-ring moving line, in the aforementioned unmanned vehicles and manned vehicles or unmanned vehicles and unmanned transportation Between the cars, the moving and carrying operations of the container goods along the cyclic moving line can be performed efficiently by the households. In addition, the moving and loading operations of the container cargo and the loading and unloading operations of the container cargo are performed in at least one of the cyclic moving lines, and the inspection point of the container cargo is set to one or more than the moving and loading of the container cargo. There are few locations for operations and container cargo loading and unloading operations. As a result, the locations of expensive inspection devices can be gradually reduced, and efficient container cargo inspection can be performed. For the above-mentioned cyclic moving line, a transport route of the chassis vehicle is jointly set for mobile conveyance, or a circulation route for a container cargo storage yard is additionally formed to perform container transport between the storage area of the unmanned truck and the dock area, thereby You can get a fully automated system. Of course, on the cyclic movement line in the dock area, a cyclic movement line or a shared route for the container cargo storage yard can be set to form a continuous movement line. Here, a fully automated route is set by moving the unmanned truck, and The completion of a system that can perform radiation inspection of container cargo can greatly improve efficiency.
【實施方式】 2189-6921-PF 9 200532191 下面將根據圖面來說明本發明之貨櫃貨物檢查方法及 貨櫃貨物檢查系統的實施型態。此外，下面所示的實施型 態為本發明之實施型態的一部分，本發明包含了在發明之 主要部分不作變更的情況下對實施型態的一部分進行變更 的範圍。 第1圖顯示本發明之貨櫃貨物檢查方法及貨櫃貨物檢 查系統的第1實施型態的整體概略情況。 本實施型態的基本構造由下列所構成：在港灣之碼頭 區域10循環移動的無人搬運車（以了稱AGV: Aut〇mated Guided Vehicle)i8、針對AGV 18裝卸設於AGV 18之移動線 上之：k櫃貨物14而作為裝卸裝置的碼頭起重機丨6、作為貨 櫃貨物檢查裝置的放射線檢查裝置2〇、貨櫃貨物移動載送 裝置22、藉由上述貨櫃貨物移動載送裝置將貨櫃貨物丨〇足 AGV 18移動載送至別處的貨櫃貨物搬運車輛（有人搬運 車，以下稱底盤車）24。此外，在本實施型態中所使用的'Gy 18若可以搬運貨櫃貨物14，則無其他特別限制。 在此種構造的本實施型態中，AGV 18被設定為，可在 碼頭區域1 0内在沿著碼頭設置的碼頭循環移動線Q上往返 循環移動。特別是，在該實施型態中，循環移動線Q如箭頭 a，b所不，設定為可折返並改變路徑來循環移動。當然， 可設定為可以迴轉，不過在行動空間受到限制的碼頭區域 10内，上述的方法比較好。另外，在半循環移動方面，可 考慮往返移動，在此情況下，宜設定為，當兩車輛接近時， 至少其中一方要改變移動線，以防止兩車輛的接觸。此外， 2189-6921-PF 10 200532191 若使AGV 18和底盤車24在碼頭區域l〇内混合移動，不只會 使AGV 1 8的控制變複雜，也會造成人為錯誤所導致之不必 要的事故。因此，在碼頭區域1 〇内，宜設置將Agv 18的移 動範圍和底盤車24的移動範圍分開的栅攔丨！。 在上述循環移動之AGV 18之循環路線上所設置的上述 碼頭起重機1 6中，如第2圖所詳細顯示的，透過吊架1 7將吊 上的貨櫃貨物14卸至停止於碼頭起重機1 6之下部架構部中 的AGV 18的貨物台18a上。此時，為了安全且正確地進行裝 卸作業’在AGV 18的貨物台18a的貨櫃貨物載置位置上，設 有導執19，可自動修正載置貨櫃貨物時的錯誤或誤差。 接著，將參照第3圖說明設置於上述循環路線上的放射 線檢查裝置20。在放射線檢查裝置20的内部，具備放射出 放射線的光源20a和用來檢查從光源放射出之放射線的檢 測部20b。上述光源20a和檢測部20b是使上述AGV 18可通過 兩者之間的間隔來配置，當AGV 1 8通過兩者之間時，對載 置於AGV 1 8之貨櫃貨物14内的貨物進行放射線檢查。另 外，為了安全起見，該放射線檢查裝置2〇宜設有外殼2〇c， 其以放射線遮蔽材料來覆蓋放射線放射區域。再者，雖未 圖示，該放射線檢查裝置20具備未圖示的輪胎，宜以可移 動至任意位置的方式來構成。 接著，將參照第4圖說明設置於上述循環路線上的貨概 貨物移動載送裝置22。貨櫃貨物移動載送裝置22由門形框 架23所組成，該門形框架23具備可以水平移動的粍盤26， 透過纜線28捲起吊架30。在此種構造的貨櫃貨物移動載送 2189-6921-PF 11 200532191 裝置22上，將巾架30連接至停車於停車位置之斯i8上所 載置的貨櫃貨物14,吊起貨櫃貨物14。吊起的貨樞貨物14 藉由箭頭d的路線來移動，才巴貨物送至停車於貨樞貨物搬運 車輛範圍的底盤車24上。再者，貨物㈣㈣裝置 22具備輪胎，宜以可移動至任意位置的方式來構成。 此外，在上述貨櫃貨物移動載置裝置22方面，可使用 轉運起重機、叉式升降機、内燃式倉庫、頂部升降器等任 意裝置。下面亦相同。 籲 在上述循銥路線上移動的AGV 18可藉由具備於港灣内 但未圖示的控制部依次接受指令，亦可依照預先設定的時 間和速度移動於循環路線上，亦可前進至路線上所埋設的 感測器等，從那裡接受指示來移動。 碼頭起重機16、放射線檢查裝置2〇及貨櫃貨物移動載 送裝置22的控制可藉由未圖示的控制部來作整體的控制， 不過，由於在裝卸貨櫃貨物時需要人手，所以考慮其安全 性’宜在各個機器上配置操作員，由操作員來操作。 • 在上述構造的實施型態中，首先，決定AGV 18移動經 過的路線。AGV 18的移動路線宜為通過碼頭起重機16之裝 卸位置（下部架構部内）的循環路線。其次，將放射線檢查 裝置20及貨櫃貨物移動載送裝置22配置於上述循環路線上 的任意位置。 在行走於所決定之循環路線上的AGV 18上，於碼頭起 重機16的下部架構部内，將被裝卸的貨櫃貨物14載置於貨 物台18a上。上面載置有貨櫃貨物14的AGV 18在循環路線上[Embodiment] 2189-6921-PF 9 200532191 The following will describe the container cargo inspection method and the implementation form of the container cargo inspection system of the present invention based on the drawings. In addition, the embodiment shown below is a part of the embodiment of the present invention, and the present invention includes a range in which a part of the embodiment is changed without changing the main part of the invention. Fig. 1 shows the overall outline of the first embodiment of the container cargo inspection method and the container cargo inspection system of the present invention. The basic structure of this embodiment is composed of the following: an unmanned transport vehicle (known as AGV: Automated Guided Vehicle) 10 circulating in the quay area of the harbour, i8, loading and unloading AGV 18 on the moving line of AGV 18 : K container of cargo 14 and dock crane as loading and unloading device 丨 6, radiation inspection device as container cargo inspection device 20, container cargo moving and carrying device 22, and container cargo moving with the above container cargo moving and carrying device 丨 〇 The AGV 18 moves a container cargo handling vehicle (man-operated vehicle, hereinafter referred to as a chassis vehicle) 24 carried elsewhere. In addition, if the 'Gy 18' used in the embodiment is capable of carrying the container cargo 14, there are no other restrictions. In this embodiment of the structure, the AGV 18 is set so as to be able to move back and forth on the quay circular movement line Q provided along the quay within the quay area 10. In particular, in this embodiment, the cyclic movement line Q is set to be foldable and change the path to cyclically move as shown by arrows a and b. Of course, it can be set to be rotatable, but in the dock area 10 where the movement space is limited, the above method is better. In addition, in terms of semi-circular movement, reciprocating movement may be considered. In this case, it should be set such that when two vehicles approach, at least one of them should change the moving line to prevent contact between the two vehicles. In addition, if 2189-6921-PF 10 200532191 makes AGV 18 and chassis vehicle 24 move in the dock area 10, it will not only complicate the control of AGV 18, but also cause unnecessary accidents caused by human error. Therefore, in the dock area 10, a fence separating the moving range of the Agv 18 and the moving range of the chassis 24 should be provided! . In the above-mentioned dock crane 16 provided on the circulation route of the above-mentioned cyclically moving AGV 18, as shown in detail in FIG. 2, the suspended container cargo 14 is unloaded through the hanger 17 to stop at the dock crane 16 The cargo platform 18a of the AGV 18 in the lower frame section. At this time, for safe and correct loading and unloading operations', a guide 19 is provided at the container loading position of the cargo table 18a of the AGV 18 to automatically correct errors or errors in loading the container. Next, the radiation inspection apparatus 20 provided on the above-mentioned circulation course will be described with reference to Fig. 3. The radiation inspection apparatus 20 includes a light source 20a for emitting radiation and a detection section 20b for inspecting radiation emitted from the light source. The light source 20a and the detection unit 20b are arranged so that the AGV 18 can be arranged at an interval therebetween, and when the AGV 1 8 passes between the two, the goods inside the container goods 14 of the AGV 18 are radiated. an examination. In addition, for the sake of safety, the radiation inspection apparatus 20 is preferably provided with a housing 20c, which covers a radiation radiation area with a radiation shielding material. Although not shown, the radiation inspection apparatus 20 includes tires (not shown), and is preferably configured to be movable to any position. Next, the cargo moving and loading device 22 provided on the circulation route will be described with reference to FIG. 4. The container cargo moving and carrying device 22 is composed of a door frame 23 having a pan 26 that can be moved horizontally, and a hanger 30 is rolled up through a cable 28. On this structure of the container cargo moving 2189-6921-PF 11 200532191 device 22, the towel rack 30 is connected to the container cargo 14 carried on the parking lot i8, and the container cargo 14 is lifted. The lifted cargo 14 is moved in the direction of the arrow d, and the cargo is delivered to the chassis vehicle 24 parked at the cargo handling vehicle of the cargo hub. In addition, the cargo reel device 22 is provided with a tire, and is preferably configured to be movable to an arbitrary position. As the container cargo moving placement device 22, any device such as a transfer crane, a forklift, an internal combustion type warehouse, or a top lifter can be used. The same applies below. The AGV 18 calling on the Iridium route mentioned above can receive instructions in sequence by the control unit in the harbor but not shown, or it can move on the cycle route according to the preset time and speed, or it can advance to the route The buried sensor, etc., receives instructions from there to move. The control of the dock crane 16, the radiation inspection device 20, and the container cargo moving and conveying device 22 can be controlled by a control unit (not shown). However, since manual labor is required for loading and unloading container cargo, its safety is considered. 'It is advisable to configure an operator on each machine for operation by the operator. • In the implementation form of the above structure, first, the route through which the AGV 18 moves is determined. The moving route of the AGV 18 is preferably a circulation route through the loading and unloading position of the dock crane 16 (inside the lower frame department). Next, the radiation inspection device 20 and the container cargo moving and conveying device 22 are arranged at arbitrary positions on the circulation route. On the AGV 18 walking on the determined circulation route, the loaded and unloaded container cargo 14 is placed on the cargo platform 18a in the lower structure part of the dock crane 16. AGV 18 with container cargo 14 on it
2189-6921-PF 12 200532191 移動，繼續往放射線檢查裝置20内前進。在放射線檢查裝 置20的内邛，被控制在某個固定速度的a通過光源別& 和檢測部20b之間。藉此，載置mAGV18的貨櫃貨物14沿著 長邊方向接受檢查。換言之，從放射線檢查裝置2〇的光源 2〇a向貨櫃貨物14放射放射線。放射線藉由穿透貨櫃貨物14 的外壁及貨櫃内貨物的過程而衰減，衰減後的放射線被檢 測部20b檢測出。檢測部20b將檢查出的穿透性放射線轉換 成電性信號，輸出至未圖示的影像處理裝置。上述影像處 鲁王里裝置處理上述電性信號，在未圖示的發幕上顯示有關於 貨櫃貨物14内的貨物的影像。顯示於螢幕上的影像，透過 操作員，檢查貨物是否和貨櫃貨物14所有人所申報的貨物 清單相同。 上述貨物的檢查可以下列的方法來進行。換言之，可 在放射線檢查裝置20上存有資料庫，事先與作為檢查對象 之貨櫃貨物14對應的穿透性放射線的預設量。在此種放射 線檢查裝置20所檢查出的貨櫃貨物14上，若其穿透性放射 _ 線的放射量和預設量大不相同，則會鳴起警報器。引起警 報器鳴起的貨櫃貨物14將另作詳細的檢查。藉此，可減少 人力，提高檢查速度。 藉由通過放射線檢查裝置20,載置有進行過上述檢查 之貨櫃貨物14的AGV 18移動至設定於貨櫃貨物移動載送裝 置22上的停車位置並停車。將吊架30連接至停車之AGV 18 的貨物台18a上所載置的貨櫃貨物14，並將貨物吊起。吊起 的知植貨物1 4沿著箭頭d的路線被搬運，夾持栅搁11，將貨 2189-6921-PF 13 200532191 物搬運至停車於貨櫃貨物搬運車輛兩側範圍的底盤車 上。 將貨植貨物14搬運至貨櫃貨物移動載送裝置22的八“ 18 /cr著所决疋的路線循環移動，然後往至碼頭起重機1 6的 下部架構内移動。 此外’關於經由放射線檢查而確認正常的貨櫃貨物和 確為異㊉的貨櫃貨物方面，藉由貨櫃貨物搬運車輛24運送 之後的處理程序當然就不一樣了。 籲 一般而言，在放射線檢查裝置上，從貨櫃貨物檢查完 畢時到新的知櫃貨物被搬運過來之間，會有空閒時間產 生。在上述貨櫃貨物檢查系統中，如第1圖所示，在複數台 (在實施型態中為兩台）碼頭起重機16上，分別設置一台放 射線檢查裝置20和貨櫃貨物移動載送裝置22，藉此，從複 數台碼頭起重機1 6卸下的貨櫃貨物依次被檢查，所以，可 去除空閒時間，有效率地進行貨櫃貨物的檢查，並有效活 用較昂貴的放射線檢查裝置2 〇。 鲁 在上述實施型態的放射線檢查裝置20中，所使用的放 射線方面，可採用X光線。X光線的穿透力強，在必須穿透 S櫃貨物之外壁鐵板的本發明中特別有效，最好使用 6〜9MeV的鬲能量X光線。不過，本發明所使用的放射線可為 r射線等。另外，放射線檢查裝置可為用來檢測核分裂物 質的中子檢測器之類的被動型感測器或為這些裝置的複合 體。 另外，在上述實施型態中，在貨櫃貨物移動載送裝置 2189-6921-PF 14 200532191 方面」使用了具備托盤的門形轉運起重機。不過，如前所 述右本發明之貨櫃貨物移動載送裝置可將貨概貨物從樹 運达至貨櫃貨物搬運車輛上，則亦可使用又式升降機。在 此情況下，宜史預設於貨櫃貨物下部但未圖示的又槽。 在上述實把型怨中，已說明了從船舶^ 2卸下貨種貨物 14的情況。本發明之貨櫃貨物檢查系統亦可被應用於將貨 植貨物裝載至船舶的場合。在此情況下，貨概貨物14的運 送程序與上述相反。換言之，由底盤車24搬運至貨櫃貨物 籲移動載送裝置22的貨櫃貨物14被移動載送至編18。移動 載送至AGV 18的貨櫃貨物14被裝載至船舶12上。此外，關 於由放射線檢查裝置20確認為異常的貨櫃貨物，以與上述 不同的程序來運送。 在上述實施型態中，已說明了分別進行貨#裝載和卸 下的情況，但是，在裝載作業和卸下作業同時進行的場合， 也適用本發明之貨櫃貨物檢查方法及系统。在此情況下， 第5圖中之第2實施型態所示之貨櫃貨物移動載送裝置辦 • 分成裝貨用移動載送裝置22a和卸貨用移動載送裝置以卜 在採用此種型態的情況下，由貨櫃貨物搬運車㈣所搬運 的裝載貨物藉由裝貨用移動載送裝置22a移動載送至agv 18°AGV 18藉由放射線檢查裝置20將移動載置來的裝載貨 櫃貨物進行放射線檢查。對裝載貨櫃貨物進行放射線檢查 完畢的AGV 18通過卸貨用移動載送裝置22b，經過a路線， 將裝載貨櫃貨物運送至碼頭起重機1 6的下部架構部内。另 外，從船舶卸下至AGV 18的卸下貨櫃貨物藉由放射線檢查 2189-6921-PF 15 200532191 裝置2 0進行放射線檢查。檢查後的卸下貨櫃貨物藉由卸貨 用移動載送裝置22b運送至底盤車24。 藉此，使用裝貨用移動載送裝置22運送貨櫃貨物14的 貨櫃貨物搬運車輛24可藉由卸貨用移動載送裝置2礼領 回，因此，可有效率地進行貨櫃貨物的裝卸搬運作業。當 然，也可將裝貨用循環路線和卸貨用循環路線分開並在各 個經過路線上設置放射線檢查裝置2〇和貨櫃貨物移動載送 裝置22。 另外，貨櫃貨物的裝貨路徑和卸貨路徑可設定為雙方 向（相反方向），以讓AGV 1 8移動。在此情況下，宜設定為， 當兩車輛接近時，至少其中一方須改變移動路線，以防止 兩車輛接觸。 在上述實施型態中，顯示了兩台碼頭起重機丨6，說明 了裝貨和卸貨的情況，但上述碼頭起重機丨6即使因為船舶 12的大小而作增減，也包含在本發明之實施型態的範圍之 内。另外，和貨櫃貨物移動載送裝置22相同，不只可以設 置一兩台，還可進一步設置複數台。另外，放射線檢查裝 ^ 20的5又置台數亦可為任意數目，但高價格的放射線檢查 裝置20設置得比上述碼頭起重機i 6和貨櫃貨物移動載送裝 置少，會比較經濟划算。 再者，在上述實施型態中，將裝卸裝置作為碼頭起重 機，但本發明之裝卸裝置不僅限於碼頭起重機一種。 在第6至第9圖中，顯示第3至第6實施形態。 在第6圖所示之實施型態的範例中，底盤車2 4不在碼頭2189-6921-PF 12 200532191 moves and continues to advance into the radiation inspection apparatus 20. The inside of the radiation inspection apparatus 20 is controlled between a passing light source & and the detecting section 20b at a certain speed. As a result, the container cargo 14 carrying the mAGV 18 is inspected along the long side. In other words, radiation is emitted from the light source 20a of the radiation inspection apparatus 20 to the container goods 14. The radiation is attenuated by the process of penetrating the outer wall of the container cargo 14 and the cargo in the container, and the attenuated radiation is detected by the detection section 20b. The detection unit 20b converts the detected penetrating radiation into an electrical signal and outputs it to an image processing device (not shown). At the above-mentioned image processing, the Luwangli device processes the above-mentioned electrical signals, and displays an image on the cargo in the container cargo 14 on a curtain (not shown). The image displayed on the screen allows the operator to check whether the cargo is the same as the cargo list declared by the owner of the container cargo14. The inspection of the above goods can be performed by the following methods. In other words, a database may be stored in the radiation inspection apparatus 20, and a predetermined amount of penetrating radiation corresponding to the container cargo 14 as an inspection target may be previously set. On the container cargo 14 inspected by such a radiation inspection device 20, if the radiation dose of the penetrating radiation is different from the preset amount, an alarm will sound. The container cargo 14 which caused the alarm to sound will be subject to a separate detailed inspection. This can reduce manpower and increase inspection speed. By passing the radiation inspection device 20, the AGV 18 on which the container cargo 14 having undergone the above-mentioned inspection is moved to a parking position set on the container cargo moving carrying device 22 and stopped. The hanger 30 is connected to the container cargo 14 placed on the cargo platform 18a of the parking AGV 18, and the cargo is lifted. The lifted Zhizhi goods 14 are carried along the route of arrow d, holding the grid shelf 11 and carrying the goods 2189-6921-PF 13 200532191 to the chassis cars parked on the sides of the container goods handling vehicle. The eighteen "18 / cr of the planted cargo 14 to the container cargo moving and carrying device 22 is cyclically moved along the determined route, and then moved to the lower structure of the dock crane 16. In addition, 'confirmed through radiation inspection With regard to normal container cargo and indeed different container cargo, the handling procedures after transportation by the container cargo handling vehicle 24 are of course different. In general, on the radiation inspection device, from the time when the container cargo inspection is completed, There will be idle time between new containerized goods being transported. In the above container cargo inspection system, as shown in Figure 1, on a plurality of (two in the implementation form) dock cranes 16, A radiation inspection device 20 and a container cargo moving and carrying device 22 are provided respectively, whereby the container cargo unloaded from a plurality of terminal cranes 16 are sequentially inspected. Therefore, the free time can be removed and the container cargo can be efficiently carried out. Inspection, and effectively use the more expensive radiation inspection apparatus 2 0. In the above-mentioned embodiment of the radiation inspection apparatus 20, In terms of radiation, X-rays can be used. X-rays have a strong penetrating power and are particularly effective in the present invention, which must penetrate the iron plates outside the cargo of the S cabinet. It is best to use 6 to 9 MeV of radon energy X-rays. The radiation used may be r-ray, etc. In addition, the radiation inspection device may be a passive sensor such as a neutron detector used to detect nuclear fission substances, or a composite of these devices. In addition, in the above-mentioned embodiment, In the case of container cargo moving and carrying device 2189-6921-PF 14 200532191, a portal-type transfer crane equipped with pallets was used. However, as described above, the container cargo moving and loading device of the present invention can transport the cargo from the tree to the container cargo handling vehicle, and then the elevator can also be used. In this case, Yishid is preset in the bottom slot of the container cargo but not shown. In the above-mentioned actual complaint, the case of unloading the cargo 14 from the ship 2 has been described. The container cargo inspection system of the present invention can also be applied to the occasion of loading cargo on a ship. In this case, the procedure for transporting the cargo 14 is reversed. In other words, the container cargo 14 carried by the chassis vehicle 24 to the container load 14 is moved to the container 18 by moving. The container cargo 14 carried to the AGV 18 is loaded onto the ship 12. The container cargo confirmed to be abnormal by the radiation inspection apparatus 20 is transported by a procedure different from that described above. In the above embodiment, the case where the cargo # is loaded and unloaded separately has been described. However, when the loading operation and the unloading operation are performed simultaneously, the container cargo inspection method and system of the present invention are also applicable. In this case, the container cargo moving carrier device shown in the second embodiment in FIG. 5 is divided into a mobile carrier device for loading 22a and a mobile carrier device for unloading to adopt this type. In the case of a container, the loaded cargo carried by the container cargo handling vehicle ㈣ is moved to the agv 18 ° AGV 18 by the moving carrier 22a for loading, and the loaded container is moved by the radiation inspection device 20. Radiological inspection. The radiological inspection of the loaded container cargo is performed by the AGV 18 through the unloading mobile carrying device 22b through the a route, and the loaded container cargo is transported to the lower frame part of the dock crane 16. In addition, the unloaded container cargo unloaded from the ship to the AGV 18 is inspected by radiation 2189-6921-PF 15 200532191 device 20. The unloaded container cargo after the inspection is transported to the chassis vehicle 24 by the unloading mobile carrier 22b. With this, the container cargo transport vehicle 24 that transports the container cargo 14 using the mobile transporting device 22 for loading can be retrieved by the mobile transporting device 2 for unloading, so that the cargo loading and unloading operation can be performed efficiently. Of course, the loading circulation route and the unloading circulation route may be separated, and a radiation inspection device 20 and a container cargo moving and conveying device 22 may be provided on each passing route. In addition, the loading path and unloading path of the container cargo can be set to two directions (opposite directions) to allow the AGV 18 to move. In this case, it should be set such that when the two vehicles approach, at least one of them must change the moving route to prevent the two vehicles from contacting. In the above embodiment, two dock cranes 6 and 6 are shown to explain loading and unloading. However, even if the above dock cranes 6 are increased or decreased due to the size of the ship 12, it is also included in the embodiment of the present invention. Within the range of states. In addition, as with the container cargo moving and carrying device 22, not only one or two units can be provided, but a plurality of units can be further provided. In addition, the number of radiation inspection devices 20 can be any number, but the high-priced radiation inspection device 20 is provided less than the above-mentioned dock crane i 6 and container cargo moving and loading device, which will be more economical and cost-effective. Moreover, in the above-mentioned embodiment, the loading and unloading device is used as the dock crane, but the loading and unloading device of the present invention is not limited to a dock crane. Figs. 6 to 9 show the third to sixth embodiments. In the example of the implementation shown in Figure 6, the chassis vehicles 24 are not at the dock
2189-6921-PF 200532191 區域ίο内移動，在碼頭循環移動線卩的一部分，由貨櫃貨物 移動載送裝置22來傳送貨櫃貨物。換言之，在貨櫃用船舶 靠岸的碼頭區域1〇内，AGV 18沿著碼頭循環移動線Q持續循 環移動，和上述船舶12之間進行貨櫃貨物14的傳送，並且， 使裝載貨櫃貨物的AGV 18通過設置於上述循環路線的放射 線檢查裝置20，在通過的過程中，對上述AGV 18上的貨櫃 貨物進行放射線檢查。然後，在放射線檢查裝置2〇的前方， 配置貨櫃貨物移動載送裝置22，在此，使其通過底盤車24 • 的運送線T，在上述循環移動的AGV 18和底盤車24之間進行 貨櫃貨物14的傳送。底盤車在與貨櫃貨物存放場之間往返 移動，以運送貨櫃貨物。藉由此種構造，可於碼頭區域^ 〇 的循環移動線Q上，將輸入之貨櫃貨物的放射線檢查安裝在 AGV 18上’所以，可以不必為了檢查而在其他區域運送貨 櫃貨物，可有效率地進行貨櫃貨物裝卸作業。 第7圖疋關於第4實施型態，其取代第6圖所示之第3實 靶型態的底盤車24的運送線τ，設置與貨櫃貨物存放場32 鲁聯、、各的存放場聯絡循環移動線Y，在此為使第二AGV 18A循 裒移動的構造。此存放場聯絡循環移動線Y的迴路和碼頭循 壤移動線Q的迴路藉由設置於放射線檢查裝置20前方的貨 櫃貨物移動載送裝置22的部分相連接，在迴路之間作貨櫃 貨物的傳送。根據此實施型態，從貨櫃貨物的裝卸到存放 场的存放，可完全在無人操作的情況下進行。2189-6921-PF 200532191 Moving within the area, a part of the loop moving line at the terminal, the container cargo moving carrier 22 is used to transport the container cargo. In other words, within the dock area 10 where the container ship is docked, the AGV 18 continuously moves cyclically along the wharf cycle moving line Q, and the container cargo 14 is transferred between the vessel 12 and the AGV 18 carrying the container cargo. The radiation inspection device 20 provided on the circulation route performs a radiation inspection on the container cargo on the AGV 18 during the passage. Then, in front of the radiation inspection device 20, a container cargo moving and carrying device 22 is arranged, and the container is moved through the transportation line T of the chassis vehicle 24, and the container is carried between the AGV 18 and the chassis vehicle 24 which are cyclically moved. Delivery of goods 14. The chassis truck moves back and forth to the container cargo storage yard to transport the container cargo. With this structure, the radiation inspection of the imported container cargo can be installed on the AGV 18 on the cyclic moving line Q of the terminal area ^. Therefore, it is not necessary to transport the container cargo in other regions for inspection, which is efficient Cargo loading and unloading operations. Fig. 7 疋 Regarding the fourth embodiment, it replaces the transport line τ of the chassis vehicle 24 of the third real target type shown in Fig. 6, and is provided to communicate with the container cargo storage site 32 Lulian, and each of the storage sites. The cyclic movement line Y is a structure that moves the second AGV 18A in a cyclic manner. The circuit of this storage yard connecting the cyclic movement line Y and the terminal cyclic movement line Q is connected by the part of the container cargo moving and carrying device 22 provided in front of the radiation inspection device 20, and the container cargo is transferred between the circuits. . According to this implementation form, the loading and unloading of container cargo to the storage site can be completely carried out without operator's operation.
第8圖進一步顯示其他實施型態，在此不設置碼頭區域 内的單一循環移動線Q，而是設置直接聯絡碼頭區域1 〇 2189-6921-PF 17 200532191 和貨櫃貨物存放場32的直接循環移動線D，使AGV 18在碼頭 區域10和貨櫃貨物存放場32之間循環移動。然後，使其在 該移動線D的碼頭區域1 〇内通過放射線檢查裝置2 〇，藉此， 自動進行貨櫃貨物的檢查。藉由此構造，可在卸下輸入之 貨櫃貨物14之後對其進行放射線檢查，但是，對輸出之貨 櫃貨物而言，無法在碼頭起重機1 6附近作放射線檢查，所 以，將放射線檢查裝置20設定為移動式，當對輸出之貨櫃 貨物作檢查時，宜在碼頭起重機丨6附近移動配置放射線檢 查裝置20。或者，不管輸出之貨櫃貨物的裝卸作業也好， 輸入之貨櫃貨物的裝卸作業也好，設定為可將直接循環移 動線D循環切換成正反方向的構造。再者，如第丨〇圖所示， 藉由在循環移動線D上夾著碼頭起重機1 6且在前後設置放 射線裝置20a，20b，可在不進行上述之移動、切換的情況 下’在進行輸出入之貨櫃貨物的裝卸作業時同時進行放射 線檢查’得到有效率的運用。此外，將經過放射線檢查裝 置20a，2 Ob之路徑Db設置在循環移動線D上會更好。若為此 種構^ ’可藉由移動於單一循環移動線D之AGV 18來進行貨 概^物14在船舶1 2之間的裝卸作業和對貨櫃貨物存放場32 的進出運送’並省略貨櫃貨物移動載送裝置22，大幅提高 作業效率。 第9圖為顯示另一實施型態的系統圖。此為結合碼頭循 %移動線Q和存放場聯絡循環線Y的設備，所以將兩移動線 Q，Y的迴路設定為部分共用線QY。然後，AGV 18在此複合 循環移動線上移動，進行裝卸作業和檢查作業。換言之，FIG. 8 further shows other implementation types. Here, instead of setting a single circulation movement line Q in the dock area, a direct circulation movement directly contacting the dock area 1 02189-6921-PF 17 200532191 and the container cargo storage yard 32 is provided. Line D moves the AGV 18 cyclically between the terminal area 10 and the container cargo storage yard 32. Then, it is allowed to pass through the radiation inspection device 20 within the dock area 10 of the moving line D, and thereby the container cargo inspection is performed automatically. With this structure, the incoming container cargo 14 can be inspected for radiation after being unloaded. However, for the exported container cargo, radiation inspection cannot be performed near the dock crane 16, so the radiation inspection apparatus 20 is set. For the mobile type, when inspecting the exported container cargo, it is advisable to move and arrange the radiation inspection device 20 near the dock crane 6. Alternatively, regardless of the loading and unloading operations of the exported container cargo and the loading and unloading operations of the imported container cargo, it is set to a structure that can switch the direct cycle movement line D cycle to the forward and reverse directions. In addition, as shown in FIG. 10, by arranging the quay crane 16 on the cyclic moving line D and installing the radiation devices 20a and 20b in front and back, it is possible to proceed without performing the above-mentioned movement and switching. During the loading and unloading operations of the loaded and unloaded container cargoes, radiation inspection is performed at the same time, which is effectively used. In addition, it is better to set the path Db passing through the radiation inspection device 20a, 2 Ob on the cyclic moving line D. If this is the structure ^ 'The cargo can be loaded and unloaded between the ship 12 and the container cargo storage yard 32 by the AGV 18 moving on the single cycle moving line D' and the container is omitted The cargo moving and carrying device 22 greatly improves work efficiency. Fig. 9 is a system diagram showing another embodiment. This is a device that combines the terminal moving line Q and the storage field connection circulating line Y, so the circuit of the two moving lines Q, Y is set to a part of the common line QY. Then, the AGV 18 moves on this combined cycle moving line for loading and unloading operations and inspection operations. In other words,
2189-6921-PF 18 200532191 在碼頭循環移動線Q的共用線QY部分和碼頭起重機16之裝 卸作業區域部分的下方設置放射線檢查裝置20，藉此來配 置檢查區域部分。在此種實施型態中，輸出入之貨櫃貨物 /卸處理不同。首先’輸出人之貨櫃貨物的裝卸作業從 貨櫃貨物存放場32藉由AGV 18從存放場聯絡循環移動線γ 向碼頭運送貨櫃貨物14。然後，先進入共用線奶（箭頭Μ)， 通過放射線檢查裝置2〇進行檢查，進入折返型路徑（箭頭 Α2)，進入反向路徑（Α3)，在碼頭起重機16進行向船舶a _ ㈣貨’以完成作業。清空的嬉18在圖中下方移動並返 回（箭頭Α5)，在下述的輸入作業中再被使用，或者，在共 用線QY上移動，進入存放場循環移動線γ(箭頭Α6)，回到貨 櫃貨物存放場32。另一方面，當進行輸入之貨櫃貨物的裝 卸作業時，從船舶12藉由碼頭起重機丨6將貨物裝卸至共用 線QY上的AGV 18上（箭頭Β1)。安裝貨櫃貨物14的人以18移 動並進入放射線檢查裝置2〇(箭頭Β2)，進行内部貨物的檢 查之後，進入存放場聯絡循環移動線γ(箭頭Β3)，然後往貨 • 櫃貨物存放場32存放貨物。如此，在該實施型態中，藉由 貨櫃貨物14的輸出入，進行AGV 18之移動線的區別，可在 不移動放射線檢查裝置20且僅在裝卸作業路徑移動的情況 下，找到最適當位置進行貨櫃貨物的檢查，所以，可以大 大提高作業效率。另外，貨櫃貨物的裝載路徑和卸下路徑 可設定為雙向（相反方向）來讓AGV 18移動。在此情況下， 宜設定為，當兩車輛接近時，至少其中一方改變移動線， 以防止兩車輛接觸。 2189-6921-PF 19 200532191 此外，雖未圖示，當船舶12靠岸時，為了有效利用放 射線檢查裝置20，若貨櫃貨物存放場32有未檢查的貨櫃貨 物’可將其置餘底盤車24或AGV 1 8上，在循環迴路中移動， 在卸貨至船舶12前的階段，進行放射線檢查，如此，可更 有效率地利用此系統。 【產業上可利用性】 本發明可應於貨櫃貨物的裝卸作業系統中，在此系統 中，對船舶進行貨櫃貨物的裝卸作業且對貨櫃貨物進行放 | 射線檢查。 【圖式簡單說明】 第1圖顯示本發明之貨櫃貨物檢查系統的實施型態。 第2圖顯示碼頭起重機下的裝卸作業的情況。 第3圖為俯視圖，顯示放射線檢查裝置和通過放射線檢 查裝置的AGV。 第4圖為前視圖，顯示貨櫃貨物移動載送裝置。 第5圖顯示本發明之貨櫃貨物檢查系統的第2實施型 • 態。 第6圖為構造圖，顯示本發明之貨櫃貨物檢查系統的第 3實施型態。 第7圖為構造圖，顯示本發明之貨櫃貨物檢查系統的第 4實施型態。 第8圖為構造圖，顯示本發明之貨櫃貨物檢查系統的第 5實施型態。 第9圖為構造圖，顯示本發明之貨櫃貨物檢查系統的第 2189-6921-PF 20 •200532191 6實施型態。 第1 0圖為構造圖，顯示本發明之貨櫃貨物檢查系統的 第7實施型態。 【主要元件符號說明】 1 0〜碼頭區域 11〜栅欄 1 2〜船舶 14〜貨櫃貨物 B 1 6〜碼頭起重機2189-6921-PF 18 200532191 A radiation inspection device 20 is provided below the common line QY portion of the terminal loop moving line Q and the loading and unloading operation area portion of the dock crane 16 to configure the inspection area portion. In this type of implementation, the container cargo handling / unloading is different. First, the loading and unloading operations of the exporter's container cargoes are carried from the container cargo storage yard 32 to the terminal by the AGV 18 from the storage yard to the circulation movement line γ. Then, first enter the common line milk (arrow M), check with the radiation inspection device 20, enter the reentry path (arrow A2), enter the reverse path (Α3), and proceed to the ship a _ cargo at the dock crane 16 ' To complete the assignment. The empty pimple 18 moves in the lower part of the figure and returns (arrow A5), and is used again in the input operation described below, or it moves on the common line QY and enters the storage yard to cycle the line γ (arrow Α6) and return to the container Cargo storage yard 32. On the other hand, when loading and unloading the imported container cargo, the cargo is loaded and unloaded from the ship 12 to the AGV 18 on the common line QY by the dock crane 6 (arrow B1). The person installing the container cargo 14 moves by 18 and enters the radiation inspection device 20 (arrow B2). After the internal cargo inspection, enters the storage yard to contact the circulation movement line γ (arrow B3), and then goes to the cargo container storage yard 32 Store the goods. As such, in this embodiment, the movement of the AGV 18 is distinguished by the input and output of the container cargo 14, and the most appropriate position can be found without moving the radiation inspection device 20 and only when the loading and unloading operation path is moved. Cargo inspection is carried out, so the operation efficiency can be greatly improved. In addition, the loading and unloading paths of the container cargo can be set to two directions (opposite directions) to allow the AGV 18 to move. In this case, it should be set such that when the two vehicles approach, at least one of them changes the moving line to prevent the two vehicles from contacting. 2189-6921-PF 19 200532191 In addition, although not shown, in order to effectively use the radiation inspection device 20 when the ship 12 is docked, if the container cargo storage area 32 has uninspected container cargo 'can be left in the chassis 24 Or on the AGV 18, moving in the circulation loop, and performing radiation inspection at the stage before unloading to the ship 12, so that this system can be used more efficiently. [Industrial Applicability] The present invention can be applied to a container cargo loading and unloading operation system. In this system, the container cargo loading and unloading operation is performed on the ship and the container cargo is put on and off. Radiographic inspection. [Brief Description of the Drawings] Figure 1 shows the implementation type of the container cargo inspection system of the present invention. Figure 2 shows the loading and unloading operation under the dock crane. Fig. 3 is a plan view showing a radiation inspection apparatus and an AGV passing through the radiation inspection apparatus. Figure 4 is a front view showing the container cargo moving and carrying device. Figure 5 shows the second embodiment of the container cargo inspection system of the present invention. Fig. 6 is a structural diagram showing a third embodiment of the container cargo inspection system of the present invention. Fig. 7 is a structural diagram showing a fourth embodiment of the container cargo inspection system of the present invention. Fig. 8 is a structural diagram showing a fifth embodiment of the container cargo inspection system of the present invention. Fig. 9 is a structural diagram showing a 2189-6921-PF 20 • 200532191 6 implementation form of the container cargo inspection system of the present invention. Fig. 10 is a structural diagram showing a seventh embodiment of the container cargo inspection system of the present invention. [Description of main component symbols] 1 0 to dock area 11 to fence 1 2 to ship 14 to container cargo B 1 6 to dock crane
1 7〜吊架 18 〜AGV 18A〜第二 AGV 1 8 a〜貨物台 19〜導軌 20〜放射線檢查裝置 2 0 a〜光源 _ 2 0 b〜檢測部 20c〜外殼 22〜貨櫃貨物移動載送裝置 22a〜裝貨用移動載送裝置 22b〜卸貨用移動載送裝置 23〜門形框架 24〜底盤車 2 6〜托盤 2189-6921-PF 21 200532191 28〜纜線 3 0〜吊架 32〜貨櫃貨物存放場1 7 ~ Hanger 18 ~ AGV 18A ~ Second AGV 1 8a ~ Cargo table 19 ~ Guide 20 ~ Radiation inspection device 2 0a ~ Light source_2 0b ~ Detection unit 20c ~ Shell 22 ~ Container cargo carrying device 22a ~ mobile carrier for loading 22b ~ mobile carrier for unloading 23 ~ door frame 24 ~ chassis 2 2 ~ pallet 2189-6921-PF 21 200532191 28 ~ cable 3 0 ~ hanger 32 ~ container cargo Storage yard
2189-6921-PF 222189-6921-PF 22
Claims (1)
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| JP2004070884 | 2004-03-12 |
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| TWI378236B TWI378236B (en) | 2012-12-01 |
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| TW094107483A TW200532191A (en) | 2004-03-12 | 2005-03-11 | Method and system for inspecting and handling cargo container |
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| US (1) | US7780390B2 (en) |
| JP (1) | JP3970315B2 (en) |
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2005
- 2005-03-11 WO PCT/JP2005/004361 patent/WO2005087633A1/en active Application Filing
- 2005-03-11 US US10/590,303 patent/US7780390B2/en not_active Expired - Fee Related
- 2005-03-11 JP JP2006511014A patent/JP3970315B2/en active Active
- 2005-03-11 TW TW094107483A patent/TW200532191A/en not_active IP Right Cessation
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI409709B (en) * | 2007-12-14 | 2013-09-21 | Hon Hai Prec Ind Co Ltd | System and method for early-warning of conveying goods |
| TWI601679B (en) * | 2015-04-14 | 2017-10-11 | Ｓｍｓ邏輯系統股份有限公司 | Method and container transfer installation for placing containers into and removing containers from container storage areas |
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2005087633A1 (en) | 2008-01-24 |
| TWI378236B (en) | 2012-12-01 |
| US7780390B2 (en) | 2010-08-24 |
| US20080025825A1 (en) | 2008-01-31 |
| JP3970315B2 (en) | 2007-09-05 |
| WO2005087633A1 (en) | 2005-09-22 |
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